Preliminary Analysis of a Lightweight and Deployable Soft Robot for Space Applications

Preliminary Analysis of a Lightweight and Deployable Soft Robot for Space Applications

Blog Article

The rising interest in soft robotics, combined to the increasing applications in the space industry, OUTLINER II 3-PRONG CORDED TRIMMER leads to the development of novel lightweight and deployable robotic systems, that could be easily contained in a relatively small package to be deployed when required.The main challenges for soft robotic systems are the low force exertion and the control complexity.In this manuscript, a soft manipulator concept, having inflatable links, is introduced to face these issues.A prototype of the inflatable link is manufactured and statically characterized using a pseudo-rigid body model on varying inflation pressure.Moreover, the full robot model and algorithms for the load and pose estimation are presented.

Finally, a control strategy, using inverse kinematics and an elastostatic approach, is developed.Experimental results provide input data for Hoodies/Fleece the control algorithm, and its validity domain is discussed on the basis of a simulation model.This preliminary analysis puts the basis of future advancements in building the robot prototype and developing dynamic models and robust control.